The invention discloses a deformable wheel foot structure based on a tensegrity structure, a robot and a working method.The deformable wheel foot structure comprises structure basic units, the multiple structure basic units are sequentially connected in series end to end through elastic cables to form a semi-annular tensegrity structure, and one ends of the two semi-annular tensegrity structures are connected through a driving mechanism; the driving mechanism is used for driving the elastic cable on the annular tensioning integral structure to stretch out and draw back, and therefore deformation is achieved through opening and closing of the embedded connector. Through switching of the wheel form and the leg form, the robot has the fast moving ability of a wheeled robot and the obstacle crossing ability of a leg type robot, and then multiple motion modes are formed.
本发明公开一种基于张拉整体结构的可变形轮足结构、机器人及工作方法,包括:结构基本单元,若干个结构基本单元通过弹性索首尾依次串联构成半环形张拉整体结构,两个半环形张拉整体结构的一端通过驱动机构连接,另一端通过嵌合接口连接,由此构成环形张拉整体结构,驱动机构用于驱动环形张拉整体结构上弹性索的伸缩,从而通过嵌合接口的开闭实现变形。通过车轮形态与腿足形态的切换,使得机器人既拥有轮式机器人的快速移动能力,又拥有腿足式机器人的越障能力,进而形成多运动模态。
Transformable wheel foot structure based on tensegrity structure, robot and working method
基于张拉整体结构的可变形轮足结构、机器人及工作方法
2024-03-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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